Position repeating system



Aug. 25, 1942. H. c. ZROTERS 2,294,210

- Posn'lofi REFEATING sysm Filed June 23, 1941 3 Sheets-Sheet 1 I I IN-VENT OR I RBE T c. ROTERS ATTORN EY Aug. 25, 1942. H c. ROTERS 2,294,210

POSITION REPEATING SYSTEM Filed June 23, 1941 s Sheets-Sheet 2 To Pmertiometer' Networks INVENTOR EERBERT C. ROTERS B ATTORNEY Aug. 25 1942. c, RQTERS 2,294,210

POSITION REPEATING SYSTEM Filed June 23, 1941 3 Sheets-Sheet 3 INVENTOR HERBERT C. ROTERSv ATTORNEY Patented-Aug. 25, 1942 POSITION aarns'rmc srs'rrar Herbert G. Rotors, Roslyn, N. Y., assignor to Fairchild Aviation Corporation, a corporation of New York Application June 23, 1941, Serial No. 399,405

' 13 Claims. (Cl! 172-239) This invention relates to position repeating systems, that is, systems of the type for causing a secondary controlled member to follow variations in position of a primary controlling member which is usually under the control of an op erator or an independentsource, the two members usually being positioned ata receiving station and a sending station, respectively, remote from each other. While the invention is of general application, it is particularly suitable in position repeating systems in which the controlled member requires a considerable amount of torque and power.

A wide variety of position repeating systems have been heretofore proposed. Many of these systems have been of the balanced bridge type in which adjustment of the controlling member unbalances the bridge and a relay responsive to such unbalance controls a motor at the receiving station to readjust the balance of the bridge and at the same time adjust the position of the controlled member to correspond to that of the controlling member.

In position repeating systems of the type described, the accuracy of repeating has-been un- 9 desirably limited by two factors: (1) the amount of unbalance of the bridge,'and hence the difference in position of the controlling and controlled members, necessary to actuate the relay; and (2) the variations in the resistance values of the voltage-dividing resistors at the sending and receiving stations making up the bridge,

when compared at corresponding positions of the controlling and controlled members.

With respect to the first limitation, if the voltage-divider resistors are tapped resistors, the least movement that will actuate the relay is one tap, making a maximum possible error of one out of the total number of taps used. If a wirewound voltage divider is used, a maximum er- -ror of one out of the total number of turns re- Thus, for a precision of one part in a thousand,

a motion across one one-thousandth of the voltage-divider resistance must be suflicient to unbalance the bridge to an extent required to actuate the relay. This order of precision is not ordinarily realizable.

In connection with the second limitation, ordinary commercially available resistors cannot-be obtained with an accuracy of resistance value of greater than i5%. As a result, for a certain angular motion'of either bridge tap, the unbalanced resistance may vary as much as 15% between different voltage-divider resistors; The resultant precision of the system as a whole is limited by the combination of these two individual inaccuracies.

Other types of positionrepeating systems have been proposed which have avoided the inaccuracies oi the bridge type, such as synchronoustype repeaters. Certain of such repeaters have been very precise when no load is connected to the secondary controlled member. However, in this type of position repeating system, no appreciable amount of power or torque is available to operate the secondary controlled member.

It is an object of the present invention, therefore, to provide an improved position repeating system which avoids one or more of the abovementioned disadvantages of the arrangements of theprior art.

It is another object of the invention to provide an improved position repeating system having a sensitivity which is theoretically unlimited -and is practically limited only by economic considerations and, in general, having a sensitivity and an accuracy of a higher order of magnitude than previously obtainable.

It is still a furtherobject of the invention to provide an improved position repeating system of increased sensitivity and at the same time providing any desired amount of power for operation of the secondary controlled member.

In accordance with the invention, the improved position repeating system comprises a primary controlling member, a secondary controlled member, and a potentiometer network including a pair of voltage dividers each having end terminals and a contact adjustable between such terminals either directly or over the voltage divider therebetween. There is a driving connection provided between one of the adjustable contacts and the primary member. There is also an electrical connection between the two contacts ineluding a directional relay and driving means, such as a motor, controlled by such relay and effective to actuate the secondary member and the other of the adjustable contacts to rebalance the potentiometer network upon its unbalsince by adjustment of the primary member.

The system also includes means responsive to movement of either of the contacts directly between the end terminals of its respective impedance element for preventing the reversal of current through the relay. This last-named means may comprise a reversing switch associated with each of the contacts, one of the reversing switches being efiective to reverse the connection of the current supply circuit to the potentiometer network and the other being effective to reverse the connections of the directional relay.

In accordance with another feature of the invention, thereis provided a combined sending and receiving station which may be connected with one or more similar stations to form a complete position repeating system. Such a station comprises a position representing member, a voltage divider adapted to form with a similar voltage divider at another station a potentiometer network, the voltage divider having end terminals and a contact adjustable between the terminals either directly or over the voltage divider therebetween. The station also includes a switching means for selectively connectin the driving means to be controlled by the directional relay when the station is operating as a receiving station, or to be manually controlled when it is operating as a sending station. There is also provided means responsive to the movement of the adjustable contact directly between the end 4 terminals of the voltage divider for preventing the reversal of current through the electrical connection including the directional relay.

For a better understanding of the present invention, together with other and further objects thereof, reference is had to the following description taken in connection with the accompanying drawings and its scope will be pointed out in the appended claims.

Referring now to thedrawings, Fig. l is a schematic representation of a complete position repeating system embodying the invention; Fig. 2 is an elementary circuit diagram of the potentiometer network of Fig. 1 to aid in the explanaform a complete position repeating system emtion includes an impedance device such as a voltage -divider element I2 comprising a plurality of resistor elements 13 connected in series and having a plurality of terminals a-a, inclusive', comprising end terminals and a plurality of electrically equally-spaced intermediate terminals of the voltage divider. Theseterminals'are preferably arranged in the arc of a circle, as

. shown, and co-operate with a rotatably adjustable contact member l4 mounted on a shaft I5 and actuated by a primary controlling member,

' such as a knob IE or a push-button controlled gearing I? having a high step-up gear ratio. Disposed on the shaft l8 of the knob H5 is a pointer I Q'and co-operating scale 28 for indicating the position of the primary controlling member.

At the receiving station II is an impedance device such as a voltage divider 22, similar to voltage divider l2 at the sending station, composed of the same'number ,of resistor elements 23 as the voltage divider l2 and having proportional resistance values and connected in series, and provided with end terminals and intermediate terminals a-y', inclusive. Co-operating with the terminals a-y', inclusive, of voltage divider v22 is a rotatably adjustable contact member 23 connected to a shaft 25, as indicated by the dashed-line connection, the shaft 25, in turn, being connected to a secondary shaft 26 through a driving connection including a reduction gearing 2'1 having a gear ratio related in a predetermined manner to that of the gearing I! at the sending station; the gear ratios of gearings H and 2? ar made equal in case the primary and secondary members are to have equal angular movements. On the shaft 26 is connected a secondary "controlled member illustrated as a pointer 29 co-operating withan indicating scale 3d, although it will be appreciated that the secondary movable member may well be a power consuming device and that the position repeating system of the invention is particularly suitable to controlling the position of such a device.

The shaft 25 and contact arm 24 are adapted to be actuated by reversible driving means, such as a motor 3!, through a reduction gearing 32 and, in turn, the secondary movable member 29 is also driven by the motor 3i through the additional reductiongearing 21. On the shaft 33 of the motor 34 is a brake drum 3 3- and a cooperating brake35 adapted normally to be held in engagement with the drum 34 by means of a spring 36 but to be retracted therefrom by a solenoid 37 energized from the motor armature circuit.

The system described also comprises a cur rent supply circuit 38 adapted to be energized from any suitable source, such asa battery 39, through a disconnecting switch 40, the voltage ,dividers l2 and 22, when connected across the supply circuit, forming a potentiometer network. The motor 3! is provided with a field winding it permanently connected across the current supply circuit 38. The motor 3| also has an armature 42 adapted to be controlled or energized from the supply circuit 38 through the contacts 43 of a directional reversing relay 44.

In prior art position repeating systems of the type described, the motion of the adjustable conthe adjustable contact to travel over one thousand taps on the potentiometer.

In order to remove this limitation on prior art devices, in accordance with the present inventioneach contact is adjustable over its associated voltage divider between its end terminals conmotor, through a driving connection including tinuously and repeatedly in either direction over .the same series of steps and there is included a .reduction gearing from the controlling and controlled members to their associated adjustable contacts. With such a system, if a precision of one part in a thousand is desired for one complete revolution of the controlling and controlled trical connection between the "normal balance points of ,the voltage dividers i 2, 22 of the potentiometer network, that is, to the adjustable contacts i4 and 24, through a double-pole, double-throw reversing switch 40. While the retiometer network must continue to ilow through therelay 44 in the same direction.

However; when the contact l4 shifts from the terminal a to the terminal i, as indicated by the dotted-line connection of Fig. 2, if there were no other'changes in the circuit, it is seen that the polarity of the unbalanced voltage would, for the time being, be reversed, thereby reversing the current through the directional relay 44. Under these conditions, relay 44 would operate to reverse the energization and the direction of rotation of the motor 3| so that the contact 24 of the voltage divider 22 and the associated secondary controlled member. would be adjusted in the wrong direction. To prevent such an occurrence, as stated above, the reversing switch 48 sistors it and 23 of the voltage dividers l2,.and 22 may all have equal resistance values, it is preferable so to proportionthe resistors of each of the voltage dividers that the power input, rather than the input voltage, to the relay 44 per step difference in position of the contact arms I4 and 24 is maintained constant over the entire range of their adjustment. The switch is adapted to be thrown from one position to the other to reverse the connection from the supply circuit 38 to the voltage-dividing networks l2 and 22 in response to movement of its associated contact member directly from'its end terminal a-to its end terminal i, and vice versa, by any suitable apparatus,'one type of which isdescribed in more detail hereinafter. Similarly, the reversing switch 48 is adapted to be operated from one position to the other to reverse the connections oi the directional relay 44 in response to movement of its associated contact -24 directly from its endv terminal a to its end terminal I, and vice versa- The switches 45 and 46 together comprise means responsive to the movement of either of the-contacts I4, 24 directly between the end terminals of its respective. impedance means for preventing reversal of current through the reversing relay 44.

- The operation of the position repeating system described above may be better understood by reference to the equivalent simplified diagram of the potentiometer network, -per se, of Fig. 2,

, in which elements corresponds to those of Fig.

l are given the same reference characters. It may be assumed, for example, that the primary controlling element It is adjusted in such a direction that the contact l4 of potentiometer l2 has moved in a counterclockwise direction from contact b to contact a and that the contact 24 of the voltage divider 22 is'following from the contact b to the contact a, as represented by Fig. 2.

is adapted to be operated to reverse the polarity works l2 and 22 from supply circuit 38 simultaneously with the movement of the contact l4 from the terminal a to the terminal a. It will be seen from Fig. 2 that the etfect of this reversal is to make the upper supply line 38 negative and the lower one positive and to maintain the polarity ofthe unbalance potential or the potentiometernetwork unchanged. Under these conditions-the motor 3i continues to operate in the same direction and cause the secondary controlled member 29 to follow the primary controlling member I! and to cause the contact 24 to follow the adjustment of the contact I4 to tend to maintain the potentiometer network substantially in balance. Obviou'slyfa reverse ,process takes place upon the movement of the contact i4 directly from the terminal {to the terminal a in the opposite direction, so that irrespective of the movement of the contact i4 directly between the end terminals a and :i, which would normally tend to reverse the direction of current 40 through the directional relay 44, this relay cur- It may also be assumed that the motion of the contact arm L 4 is continuing in a counterclockwise direction from the terminal a to the terminal 4. Before the contact l4 leaves the terminal a and while the contact 24 of potentiometer is on contact b, and assuming the upper terminal of the supply circuit 28 to be positive, it

will be seen that the potentiometer network is unbalanced in a direction such that current flows through the directional relay 44 in the direction of the arrow. Therefore, as long as the contact arm l4 continues rotating in a counterclockwise direction, the unbalance current of the pcten- 7 in response to balancing of the potentiometer rent is maintained in the same direction to maintain the rotation of the motor 2i continuously in the proper direction.

In order similarly to provide for the reversal of the unbalance current through the directional relay '44 due to movement of the contact 24 0! voltage divider 22-directly between its end terminals a and i, the reversing switch 46 isconnected' to be operated simultaneously with such movement of contact 24 to reverse the connections to the relay 44 and thus maintain the direction of relay current constant for a given direction of rotation of the contact members l4 and 24. When the contact members i4 and 24 are rotated in the opposite direction, the direction of lag of the contact 24 with respect t0 contact i4 is in the opposite direction so that the relay I current 44 is reversed to change the reversing contacts 43 to reverse the direction of rotation of th motor 2!.

In order to prevent or minimize over-running of the motor 3| when the potentiometer netsponse to deenergization 0f the motor by operation of the directional relay 44 to its neutral position upon balancing of the potentiometer network, the brake 35 is actuated by the spring 26 to brake the motor, rapidly to decelerate it to rest, It will also be noted that, when th directional relay operates to its neutral position network, the armature. 42 of the motor 3| is short-circuited through the contacts 43, thus dynamically braking the motor. In certain instances this dynamic braking is suificient without the provision of the additional brake 35 and it may be omitted.

While any suitable mechanism may be provided for operating the reversing switches 45. and simultaneously with the movement of the adjustable contacts l4 and 24 directly between their associated end terminals (1 and 7', it is desirable a disc 50 fixed to the shaft l5 and connected to drive a disc 5| which is loose on the shaft l5 through a pin 52 engaging a slot 53 in disc 50. The disc 5|, in turn, drives a disc 54 by engagement of the pin 52 in a slot 55 in the disc 54. The slots 53 and 55 are somewhat wider than the pin 52 so that there is a limited lost motion in the driving connection between the disc 5i and the discs 50 and 54. The disc 54 is mounted on a hollow shaft or sleev 56 revolving on the shaft l5 but coupled thereto only through the driving pin 52. The shaft 56 drives the contact l4 directly and, as shown, also drives a cam 51 through a 1:2 reduction gearing 58. The cam 51 coperates with two roller followers 59 which operate the reversing switch contacts 60, the elements' 51, 59, and 60 collectively comprising the reversing switch 45 of Fig. l. A projection 6| extends from the disc and co-operates with a roller 62 biased into engagement therewith by a spring 63.

In the operation of the reversing switch mechanism described, due to the st motion of the driving pin 52 and the driven plate 55, the contact l4 lags behind the extension 5| in either direction of rotation so that it can be arranged to be on the crest of the roller 52 when the contact I4 is either on terminal a or terminal 7'. Further slight motion of the projection Si by the driving disc 50 in either direction causes the roller 62 to drive the extension 5! by'th spring 53 so that the driven plate 54 advances to the position corresponding to enwgement ofthe associated contact arm with the succeedin terminal a or i independently of the driivng disc 50. The forward motion of the driven disc 54 under the influence of the spring 63 is made sufficient to carry the contact freely from either terminal a to terminal i, or vice versa. In this way, the contact i4 is prevented from stopping midway between the terminals (1 and 9. However, this lost motion between discs 50 and 54 should be made as small as is consistent with obtaining the snap-action described since it represents an inaccuracy in the repeating system. Thetransition points of the cam 57 are determinedso that the reversing switches 50 of the switch mechanism 45 are operated as nearly simultaneouslyas possible, whereby the whole mechanism is the equivalent of the double-pole, double-throw switch. The spacing of the trans ition points of the cam 51 is such that the polar-.

ity of the connections of the supp y circuit 38 to the potentiometer network is reversed each time contact l4 passes directly between the end terminals a and i.

A mechanism similar to that of Fig. 2 may be used for the double-pole, double-throw reversing switch 46 operated simultaneously with adjustment of contact 24 of the voltage divider 22 directly between its end terminals a and 1, except that in this instance the shaft [5 is driven by the motor 3i.

With the system described above, it is possible continuously to rotate the primary controlling member [5 and contact l4 indefinitely in either direction'and'have the contact 24 and the secondary controlled element 29 repeat the position of the primary member continuously, provided that at no time the contact l4 gets more than one revolution less one tap ahead of the contact 24. Inasmuch as the motor 3! drives the contact 24 at some fixed constant speed, a phase displacement of more than such limiting amount may be avoided either by making this speed sufliciently great that it will be in excess of any possible manual adjustment of the primary controlling element "5, or by substituting for the manual knob I6 agpush-button controlled driving motor for the shaft [8 having a maximum speed such that the speed of revolution of the contact l4.is always less than the maximum speed of the contact 24.

While the system described above has been illustrated as a direct current system, it will be understood that it is also applicable to an alternating current system, in which case the directional relay 44 will be a polarity or phaseresponsive alternating current-directional relay.

In installations-in which it is desired to have a supply circuit of difierent voltage level at the sending station I0 and the receiving station H, the modified potentiometer network shown partially in Fig. 4 may be used in the arrangement of Fig. 1. In this arrangement the voltage divider l2 is similar to voltage divider E2 of Fig. 1, but shown with areduced number of taps or terminals. The voltage divider 22' adapted to be locatedat the receiving station is similar to the voltage divider 22 of Fig. 1 to a similar extent. The adjustable contact l4 of the voltage divider l2 and one end terminal is 50, connected to the input circuit of a direct current vacuum-tube amplifier 10 through a suitable grid-bias battery 'II. The anode circuit of the tube Ill is energized from a suitable source, I

such as a battery l2, through a load resistor 13. The, directional relay 44 is connected from the output terminal of the amplifier circuit to the adiusta-ble contact 24 of the voltage divider 22' through a biasing battery 14. In operation the v polarity of the voltages impressed upon the voltage-dividing networks I2 and 22'. will be reversed simultaneously as in the arrangement of Fig. l.

The operation of the arrangement of Fig. 4 is essentially similar to that of Fig. 1, the directional relay 4d balancing the output voltage of the vacuum-tube amplifier, which is an amplified multiple of the selected portion of the voltage derived from the voltage divider l2, against a selected portion of the voltage across the voltage-divider 22'. Since-the directional relay is to balance only the portion of the voltage of the output circuit of the amplifier 10 corresponding to variations in its input voltage, there is included a bias battery 14 in series with the relay '44 to balance out the minimum engage contacts output voltage of the amplifier.

In Fig. of the drawings there is represented,

' schematically, a combined sending and adapted to co-operate with one or'more additional similar stations to form a complete position repeating system. In this We the voltage-divider network I! is identical to that of Fig. 1. The contact ll of the voltage divider I2 is adapted to be driven from a vmotor 80 through a reduction gearing it. Similarly, the position representing member I9, which may be either a primary controlling 'member or a secondary controlled member in accordance with whether the station is operating as a sending station or receiving station, is driven from the motor 80 through the reduction gearingjl and the additional reduction gearing 11. Connected to the contact H of the voltage divider I2 is an electrical connection" which includes the energizing winding of a directional relay 82 similar to the relay ll of Fig. 1. The connec-. tion 18. is adapted to be connected to a corresponding contact at another similar-station.

The motor 80 is energized from the supply circuit 38 through-the reversing contacts I; or the directional relay 82 and a pair 01' two-positionswitches 85, 85 normally spring-biased to 85a and 86a, respectively, but selectively manually operable to engage contacts 85b and 86b, respectively. The contacts lib and lib are connected together and to one side of the supply circuit 38 through a resistor 81. A switch 84 normally spring-biased to open position is connected across the winding of the relay 8! to render it inoperative.

In considering the operation of. the combined sending and receiving station of Fig. 5, it will be responding motor at the receiving station, due to any slight differences in characteristics of the two stations. 1

When two or more stations of the type of Fig. 5 are connected to form a position repeating system, it will be seen that they are normally all connected as receivers. In this case, the system will still reach a condition of balance in case the directionalrelays are so connected that the current through the oneat the sending station in series with those at the receiving stations causes the-driving motors at the sending and receiving stations to rotate in opposite directions. This causes the arm H or the voltage divider of the sending station and the corresponding arms of the receiving stations to approach each other, in the event that the sending switches are released manually to their biased positions had ten electrically-spaced contacts while there assumed that the switches 84, 85, and 86 are in their illustrated positions to which they are normally biased. Under these conditions, the system is substantially identical to the receiving station of the system of Fig. 1 and operates in an entirely similar manner. If now it is desired to utilize the station of Fig. 5, as a sending station, the switch 84 is closed to render the directional relay 82 inoperative. Under these conditions, it will be noted that the circuit of motor I0 is short-circuited through the contacts 83 of other station. Under these conditions, it will be seen that the operation or the station is entirely manually controlled by the switch 85.

Similarly, operation of the switch 86 to close its contact 86b is eifective to energize the motor 80 with opposite .polarity to adjust the posi-- tion representing member l9 and the contact I in the opposite sense. In either case, the other similar. station connected to the station described willoperate in the-manner described above to follow or repeat the adjusted position of the position representing member l8. During this operation, the resistor 81 is in circuit with motor II and is effective to reduce the operating voltage so that the motor 88 operates at a lower speed than the corresponding motor. at the similar station, thus avoiding any possibility that themotor at the sending station will get ahead of the corwas a :1 reduction gearing interposed -between the adjustable contact elements It and 24 and the primary and secondary members, re-'- spectively. The motor 3! was rated at a torque of 0.8 oz.-in. at 5,000 R. P. M. and was connected to the shaft 25 through a 100:1 reduction gearing. As a result, the'speed of rotation of the shaftzli and the secondary controlled member 29 was 0.5' R. P. M. and there was available at the secondary controlled member an output torque of 8,000 oz.-in. less the gear losses. The maximum displacement error between the primary controlling member and the secondary controlled member was degree and included the maximum possible error in the position of the contact members l4 and 24, one-half the mean distance between the terminals which was 18 degrees, plus amaximum error or 8 degrees in backlashin the gearing.

'While in each of the illustrated embodiments of the invention only a single receiving station with a single secondary controlled member is shown and described, it is to be understood that a plurality of receiving stations each including a secondary controlled member may' be controlled from a single sending station merely by at present considered to be the preferred embodiments of this invention, it will be obvious to those skilled in the art that various changes and modifications may be made therein without departing from the invention, and it is, therefore, aimed in the appended claims to cover all such changes and modifications as fall within the true spirit and scope of the invention.

What is claimed is:

1. A position repeating system comprising a primary controlling member, a secondary controlled member, a potentiometer network including a pair of voltage dividers each having end terminals and a-single contact adjustable between said terminals either directly or over the voltage divider therebetween, a driving connection between one of said adjustable contacts and said primary member, a single electrical balance connection between said contacts including a directional relay, driving means controlled by said relay and efiective to actuate said secondary member and the other of said adjustable contacts to rebalance said potentiometer network upon its unbalance by adjustment of said primary member, and means responsive to movement of either of said contacts directly between the end terminals of its respective impedance element for preventing the reversal of current through said balance connection.

2. A position repeating system comprising a primary controlling member, a secondary controlled member, a current supply circuit, a potentiometer network connected to said supply circuit and including a pair of impedance devices each having end terminals and a single contact adjustable between said terminals either directly or over the impedance device therebetween, a driving connection between one of said adjustable 0on tacts and said primary member, a single electrical balance connection between said contacts including a directional relay, driving means controlled by said relay and effective to actuate said secondary member and the other of said adjustable contacts to rebalance said potentiometer network trolled member, a potentiometer network including a pair of voltage dividers comprising the same number of resistors having proportional resistance values and terminals therefor and a single contact adjustable over said terminals of each of said voltage dividers continuously and repeatedly in the same direction, a driving connection between one of said adjustable contacts and said primary member, a single electrical balance connection between said contacts including a, directional relay, driving means controlled by said relay and effective to actuate said secondary member and the other of said adjustable contacts to rebalance said potentiometer network upon its unbalance by adjustment of said primary member, and means responsive to movement of either of said contacts directly between the end terminals of its respective impedance element for preventing the reversal of current through said balance connection,

6. A position repeating system comprising a :primary controlling member, a secondary controlled member, a current supply circuit, a potentiometer network connected to said supply circuit and including a pair of impedance devices each having end terminals and a single contact adjustable between said terminals either directly or upon its unbalance by adjustment of said primary member, and means responsive to movement of either of said contacts directly between the end terminals of its respective impedance element for preventing the reversal of current through said balance connection.

3. A position repeating system comprising a primary controlling member, a secondary controlled member, a potentiometer network including a pair of voltage dividers each having end terminals and a single contact adjustable over said voltage divider between said terminals continuously and repeatedly in the same direction, a driving connection between one of said adjustable contacts and said primary member, a single electrical balance connection between said contacts including a directional relay, driving means controlled by said relay and effective to actuate said secondary member and the other of said adjustable contacts to rebalance said potentiometer network upon its unbalance by adjustment of said primary member, and means responsive to move ment of either of said contacts directly between 'the end terminals of its respective impedance element for preventing the reversal of current through said balance connection.

- 4. A position repeating system comprising a primary controlling member, a secondary controlled member, a potentiometer network including a pair of voltage dividers each having a plurality of electrically-spaced terminals and a single contact adjustable over said terminals continuously and repeatedly in the same direction, a driving connection between one of said adjustable contacts and said primary member, a single electrical balance connection between said contacts including a directional relay, driving means controlled by said relay and effective to actuate said secondary member and the other of said adjustable contacts to rebalance said potentiometer network upon its unbalance ,by adjustment of said primary member, and means responsive to movement of either of said contacts directly between the end terminals of its respective impedance eleover the impedance device therebetween, a driving connection between one of said adjustable contacts and said primary member, a single electrical balance connection between said contacts including a directional relay, driving means controlled by said relay and effective to actuate said secondary member and the other of said adjustable contacts to rebalance said potentiometer network upon its unbalance by adjustment of said primary member, switch means responsive to the movement of one of said contacts directly between the end terminals of its respective impedance device for reversing the connections between said supply circuit and said potentiometer network, and switch means responsive to movement of the other of said contacts directly between the end terminals of its respective impedance device for reversing the connections to said relay.

7; A position repeating system-comprising a primary controlling member, a secondary controlled member, a current supply circuit, a potentiometer network connected to said supply circuit and including a pair of impedance devices each having end terminals and asingle contact adjustable between said terminals either directly or over the impedance device therebetween, a

driving connection between one of said adjustable contacts and said primary member, a single electrical balance connection between said contacts including a directional relay, driving means controlled by said relay and effective to actuate said secondary member and the other of said adjustable contacts to rebalance said potentiometer network upon its unbalance by adjustment of said primary member, switch means responsive to the'movement of said contact associated with said primary member directly between the end terminals of its respective impedance device for reversing the connections between said supply circuit and said potentiometer network, and switch means responsive to movement of said contact associated with said secondary member directly between the end terminals of its respective impedance device for reversing the connections to said relay.

8. A position repeating system comprising a primary controlling member, a secondary controlled member, a potentiometer network includmg a pair of voltage dividers each having end terminals and a single contact adjustable in either direction between said terminals either directly or over the voltage divider therebetween, a driving connection between one of said adjustable contacts and said primary member, a single electrical balance connection between said contacts including a directional reversing relay, reversible driving means controlled by said relay and eifective to actuate said secondary member and the other of said adjustable contacts to rebalance said potentiometer network upon its un balance by adjustment of said primary member, and means responsive to movement of either of said contacts directly between the end terminals of its respective impedance element for preventing the reversal of current through said balance connection.

9. A position repeating system comprising a sending station including a primary controlling member, a receiving station including a secondary controlled member, a potentiometer network including a pair of voltage dividers one at said sending station and one at said receiving station and each having end terminals and a single contact adjustable between said terminals either directly or over the voltage divider therebetween, a

ing a pair of voltage dividers each having end terminals and a single contact adjustable be- I tween said terminals either directly or over the driving connection between one of said adjustable contacts and said primary member, a single electrical balance connection between said contacts including a directional relay, driving means at said receiving station controlled by said relay and efiective to actuate said secondary member and the other of said adjustable contacts to rebalance said potentiometer network upon its unbalance by adjustment of said primary member, and means responsive to movement of either of said contacts directly between the end terminals of its respective impedance element for preventing the reversal of current through said balance connection.

10. A position repeating system comprising a primary controlling member, a secondary controlled member, a potentiometer network including a pair of voltage dividers each having end 7 terminals and a single contact adjustable between said terminals either directly or over the voltage divider therebetween, a driving connection between one of said adjustable contacts and said primary member, a single electrical balance connection between said contacts including a directional relay, a motor energized through said relay and efiective to actuate said secondary member and the other of said adjustable contacts to rebalance said potentiometer network upon its unbalance by adjustment of said primary member,

means responsive to movement of either of said contacts directly between the end terminals of its respective impedance element for preventing the reversal of current through said balance connection, and means responsive to deenergization of said motor upon balancing of said potentiometer network for braking said motor rapidly to decelerate it to rest.

11. A position repeating system comprising a primary controlling member, a secondary controlled member, a potentiometer network includvoltage divider therebetween, a driving connection' between one of said adjustable contacts and said primary member, a single electrical balance connection between said contacts including a directional relay, a motor having an armature energized through said relay and efiective to actuate said secondary member and the other of said adjustable contacts to rebalance said potentiometer network upon its unbalance by adjustment of said primary member, means responsive to movement of either of said contacts directly between the end terminals of its respective impedance element for preventing the reversal of current through said balance connection, and means responsive to deenergization of said motor upon balancing of said potentiometer network for ber, a single electrical balance connection be-- tween said contacts including a directional relay, driving means including reduction gearing having a gear ratio of a predetermined relation to that of said first-named gearing controlled by said relay and efiective to actuate said secondary member and the other of said adjustable contacts to rebalance said potentiometer network upon its unbalance by adjustment of said primary member, and means responsive tomovement of either of said contacts directly between the end terminals of its respective impedance elementfor preventing the reversal of current through said balance connection.

13. In a position repeating system, a combined sending and receiving station comprising, a position representing member, a voltage divider adapted to form with a similar voltage divider at another station a potentiometer network, said voltage divider having end terminals and a contact adjustable between said terminals either directly or over the voltage divider therebetween,

driving means for said contact and said member,

tion or to be manually controlled when operating as a sending station, and means responsive to the movement of said contact directly between said end terminals for preventing the reversal of current through said electrical connection including said relay. 4

HERBERT C. ROTERS. 

